/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#include "Simulator.hpp"

using namespace rwlibs::simulation;

rw::sensor::Sensor::Ptr Simulator::getSensorHandle (SimulatedSensor* ssensor,
                                                    const std::string& type)
{
    if (_simsensorToHandle.find (std::make_pair (ssensor, type)) == _simsensorToHandle.end ()) {
        return NULL;
    }
    return _simsensorToHandle[std::make_pair (ssensor, type)];
}

bool Simulator::hasHandle (SimulatedSensor* ssensor, const std::string& type)
{
    if (_simsensorToHandle.find (std::make_pair (ssensor, type)) == _simsensorToHandle.end ()) {
        return false;
    }
    return true;
}

void Simulator::addHandle (SimulatedSensor* ssensor, const std::string& type,
                           rw::sensor::Sensor::Ptr sensor)
{
    _simsensorToHandle[std::make_pair (ssensor, type)] = sensor;
}
